Abstract
Based on the sparse A* search (SAS) algorithm and the fuzzy reactive controller (FRC), we propose a novel method of navigation for unmanned helicopter (UMH). SAS is applied to plan a path based on the understanding of pre-known obstacles and threats. Then, UMH travels along the path. The FRC, which employs Mamdani fuzzy methodology and pre-planning guidance, monitors the flight process and react in real-time to keep flight safety. Simulations show that this approach can find out the global optimal path and realize dynamic navigation for UMH.
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Chen, X., Meng, Z., He, W., Wang, K. (2013). UMH’s Navigation in Unknown Environment Based on Pre-planning Guided Fuzzy Reactive Controller. In: Ali, M., Bosse, T., Hindriks, K., Hoogendoorn, M., Jonker, C., Treur, J. (eds) Contemporary Challenges and Solutions in Applied Artificial Intelligence. Studies in Computational Intelligence, vol 489. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00651-2_26
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DOI: https://doi.org/10.1007/978-3-319-00651-2_26
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00650-5
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